CN108549391B - AGV trolley control system and method - Google Patents

AGV trolley control system and method Download PDF

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CN108549391B
CN108549391B CN201810517951.4A CN201810517951A CN108549391B CN 108549391 B CN108549391 B CN 108549391B CN 201810517951 A CN201810517951 A CN 201810517951A CN 108549391 B CN108549391 B CN 108549391B
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program module
agv
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CN108549391A (en
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颜炳姜
林一松
王敏
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Conprofe Technology Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

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  • General Physics & Mathematics (AREA)
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  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an AGV trolley control system and a method, wherein the system comprises a server scheduling program module, a vehicle-mounted controller program module and an action execution program module, and the method comprises the following steps: the server scheduling program module performs AGVS scheduling on the AGV to generate an AGVS instruction; the vehicle-mounted controller program module controls the operation of the AGV according to the AGVS scheduling instruction of the server scheduling program module; and the action execution program module controls the AGV trolley to execute corresponding actions according to the operation control instruction. The invention can carry out coordinated dispatching on a plurality of AGV trolleys at the same time, and has high dispatching efficiency; the magnetic navigation tracking algorithm based on the parabola is adopted, so that the parameters needing to be set or debugged are relatively few, the method is easy to realize, the parameters are more stable, the parameters can be displayed in a matlab in a graphical interface mode, the method is more visual, and the debugging of large turns at different angles is facilitated. The invention can be widely applied to the field of logistics transportation equipment control.

Description

AGV trolley control system and method
Technical Field
The invention relates to the field of logistics transportation equipment control, in particular to an AGV trolley control system and an AGV trolley control method.
Background
With the rapid development of the B2C e-commerce industry, logistics warehousing becomes a bottleneck factor for the expansion of various industries. Like large-scale electronic commerce in China, no heavy money is available to research and develop a new generation of modern warehouse, but investment funds of most warehousing industries are spent in links of whole picking, shunting and the like. In the zero pick process, which affects warehouse efficiency most, the traditional manual approach of using no-move is still used, so an AGV cart with free path guidance is just an effective solution to this problem. AGVs are acronyms of Automated Guided vehicles (Automated Guided vehicles), and refer to transport vehicles equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and which have safety protection and various transfer functions.
When the AGV works, the functions of starting, stopping, navigation, carrying and the like can be realized only by matching with an onboard controller and a corresponding scheduling server. However, most of the current dispatching servers of the AGV trolleys can only dispatch a single AGV trolley, and can not coordinate and dispatch a plurality of AGV trolleys at the same time, so that the dispatching efficiency is not high. In addition, when the on-board controller of the present AGV is tracking by magnetic navigation (magnetic navigation tracking for short), a fitting test is usually performed by using a PID algorithm to accurately position the position offset and the heading of the AGV, but the following disadvantages exist when the magnetic navigation tracking is performed by using the PID algorithm: 1) the parameters needing to be set or debugged are relatively more and are not easy to realize; 2) the parameters are not stable enough, cannot be displayed in a matlab in a graphical interface mode, and are not visual enough; 3) it is not convenient to debug large turns at different angles.
Disclosure of Invention
To solve the above technical problems, the present invention aims to: the AGV trolley control system and method are high in efficiency, easy to achieve, stable in parameters, visual and convenient.
The first technical scheme adopted by the invention is as follows:
AGV dolly control system includes:
the server scheduling program module is used for carrying out AGVS scheduling on the AGV, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
the system comprises a vehicle-mounted controller program module, a server scheduling program module and a control system, wherein the vehicle-mounted controller program module is used for controlling the operation of the AGV according to an AGVS scheduling instruction of the server scheduling program module, and the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation tracking algorithm;
and the action execution program module is used for controlling the AGV to execute corresponding actions according to the operation control instruction of the vehicle-mounted controller program module.
Further, the on-board controller program module includes:
the local area network subprogram module is used for receiving the AGVS scheduling instruction of the server scheduling program module and returning the result of the AGV trolley action execution to the server scheduling program module;
the AGV control system comprises an algorithm control subprogram module, a control module and a control module, wherein the algorithm control subprogram module is used for providing a control algorithm of the AGV, and the control algorithm of the AGV comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
the communication subprogram module is used for communicating with the action execution program module, sending an operation control instruction to the action execution program module and acquiring a sensor signal and a steering wheel action signal returned by the action execution program module;
and the IO control subprogram module is used for sending an operation control instruction to the action execution program module through the IO port so as to perform acousto-optic control.
Further, the action execution program module includes:
the sensor signal acquisition subprogram module is used for acquiring sensor signals according to the operation control instruction of the vehicle-mounted controller program module;
the steering wheel driver control subprogram module is used for controlling the steering wheel driver according to the operation control instruction of the vehicle-mounted controller program module;
and the sound and light control subprogram module is used for carrying out sound and light control according to the operation control instruction of the vehicle-mounted controller program module.
Further, the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm in the algorithm control subroutine module is as follows:
Figure BDA0001674198480000021
wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of the parabola, b is the first order term coefficient of the parabola, and c is the constant term.
Further, the sound and light control comprises flashing light control and preset music playing control.
The second technical scheme adopted by the invention is as follows:
the AGV trolley control method comprises the following steps:
the server scheduling program module performs AGVS scheduling on the AGV to generate an AGVS instruction, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
the method comprises the following steps that an on-board controller program module carries out operation control on an AGV according to an AGVS scheduling instruction of a server scheduling program module to generate an operation control instruction, wherein the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation track-finding algorithm;
and the action execution program module controls the AGV trolley to execute corresponding actions according to the operation control instruction.
Further, the step of the vehicle-mounted controller program module controlling the operation of the AGV according to the AGVS scheduling instruction of the server scheduling program module specifically includes:
the vehicle-mounted controller program module receives an AGVS scheduling instruction;
the vehicle-mounted controller program module calls a control algorithm of an algorithm control subprogram module according to the AGVS scheduling instruction to perform operation control on the AGV, and generates an operation control instruction, wherein the control algorithm of the algorithm control subprogram module comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
and the vehicle-mounted controller program module sends the operation control instruction to the action execution program module and acquires a sensor signal and a steering wheel action signal returned by the action execution program module.
Further, the step of controlling the AGV to execute the corresponding action by the action execution program module according to the operation control instruction specifically includes:
the action execution program module receives an operation control instruction;
the action execution program module acquires sensor signals according to the operation control instruction;
the action execution program module controls the steering wheel driver according to the operation control instruction;
the action execution program module performs sound and light control according to the operation control instruction;
the action execution program module returns the action signal of the steering wheel and the acquired sensor signal to the program module of the vehicle-mounted controller.
Further, the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm is as follows:
Figure BDA0001674198480000031
wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of the parabola, b is the first order term coefficient of the parabola, and c is the constant term.
Further, the sound and light control comprises flashing light control and preset music playing control.
The invention has the beneficial effects that: according to the AGV control system and method, the AGVS scheduling of the AGV is performed through the server scheduling program module, the AGV comprises AGV multi-vehicle cooperative scheduling, multiple AGV vehicles can be simultaneously and coordinately scheduled, and the scheduling efficiency is high; the on-vehicle controller program module adopts the magnetism navigation seeking algorithm based on the parabola to obtain the position offset and the steering wheel direction speed of magnetism navigation when carrying out operation control to the AGV dolly, has adopted the magnetism navigation seeking algorithm based on the parabola to replace the PID algorithm, and the parameter that needs to set or debug is less relatively, easily realizes, and the parameter is more stable, can also show with graphical interface's form in matlab, and is more directly perceived, and is convenient for debug the big turn of different angles.
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FIG. 1 is a block diagram of the program modules of an AGV control system according to the present invention;
FIG. 2 is a flowchart illustrating the steps of an AGV control method according to the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description.
Referring to fig. 1, the AGV cart control system of the present invention includes:
the server scheduling program module is used for carrying out AGVS scheduling on the AGV, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
the system comprises a vehicle-mounted controller program module, a server scheduling program module and a control system, wherein the vehicle-mounted controller program module is used for controlling the operation of the AGV according to an AGVS scheduling instruction of the server scheduling program module, and the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation tracking algorithm;
and the action execution program module is used for controlling the AGV to execute corresponding actions according to the operation control instruction of the vehicle-mounted controller program module, and the actions executed by the AGV comprise sensor signal acquisition, steering wheel driver control and acousto-optic control.
The server scheduling program module runs on an upper control system of the AGV, and has the main functions of distributing tasks, managing vehicles, managing traffic and the like to a plurality of single AGV trolleys in an AGV system (AGVS).
Wherein, the task management is similar to the process management of the computer operating system and provides an interpretation execution environment of the program module; providing scheduling operation service according to task priority and starting time; various operations such as start, stop, cancel, etc. are provided for the task.
The vehicle management is the core of AGV dispatching management, and it is according to the request of material handling task, distributes and dispatches AGV and carries out the task, according to the shortest principle of AGV dolly travel time, calculates the shortest walking route of AGV dolly to the walking process of control commander AGV dolly, in time assigns the loading and unloading goods and the command of charging.
And the traffic management provides measures for automatic avoidance of the AGV trolleys according to the physical size, the running state and the path condition of the AGV trolleys.
The vehicle-mounted controller program module runs on a single AGV trolley control system (namely a control system of each AGV trolley), and after receiving an AGVS scheduling instruction (namely an instruction of an upper AGV control system) of the server scheduling program module, the vehicle-mounted controller program module realizes the control functions of navigation control, path selection and the like of a single AGV trolley.
Navigation (Navigation): and measuring and calculating the position and the heading in the global coordinate by the single AGV trolley through a navigation device (such as a magnetic navigation sensor) arranged on the single AGV trolley.
Path selection (Searching): according to the instruction of the AGV upper control system, the single AGV trolley selects the path to be operated in advance through calculation, the result is reported to the AGV upper control system, and the AGV upper control system can operate or not and is uniformly allocated according to the positions of other AGV trolleys. The path of the single AGV trolley is designed according to the actual working conditions and consists of a plurality of segments. Each "segment" indicates the start point, the end point, and the travel speed and steering of the AGV car in that segment.
And the action execution program module runs on the action execution part of the single AGV and is used for carrying out operations such as sensor signal acquisition, steering wheel driver control, acousto-optic control and the like according to the operation control instruction of the vehicle-mounted controller program module. The sensor signals include magnetic navigation sensor signals, UWB position location signals, and the like.
Referring to fig. 1, further as a preferred embodiment, the onboard controller program module includes:
the local area network subprogram module is used for receiving the AGVS scheduling instruction of the server scheduling program module and returning the result of the AGV trolley action execution to the server scheduling program module;
the AGV control system comprises an algorithm control subprogram module, a control module and a control module, wherein the algorithm control subprogram module is used for providing a control algorithm of the AGV, and the control algorithm of the AGV comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
the communication subprogram module is used for communicating with the action execution program module, sending an operation control instruction to the action execution program module and acquiring a sensor signal and a steering wheel action signal returned by the action execution program module;
and the IO control subprogram module is used for sending an operation control instruction to the action execution program module through the IO port so as to perform acousto-optic control.
The laser navigation algorithm is used for positioning according to a laser head (such as a SICK laser sensor) and reflection of light on the roof of the AGV, and at least three navigation marks made of high-reflectivity materials are required to be fixed on the periphery of a work site; install laser scanner on the AGV dolly, then scan pulse laser emitter launch and by the laser that navigation mark all around reflects, utilize the triangulation location principle to calculate the position and the actual distance of AGV dolly relative navigation mark to calculate the coordinate of AGV automobile body among the world coordinate system, and then realize the guide to the AGV dolly. The laser navigation algorithm is accurate in positioning, but the cost is high.
And a magnetic navigation tracking algorithm is matched with a magnetic navigation sensor to obtain the position offset and steering wheel direction speed of the magnetic navigation by adopting a parabolic fitting test method, so that the AGV trolley can perform self-service tracking walking.
Referring to fig. 1, further as a preferred embodiment, the action execution program module includes:
the sensor signal acquisition subprogram module is used for acquiring sensor signals according to the operation control instruction of the vehicle-mounted controller program module;
the steering wheel driver control subprogram module is used for controlling the steering wheel driver according to the operation control instruction of the vehicle-mounted controller program module;
and the sound and light control subprogram module is used for carrying out sound and light control according to the operation control instruction of the vehicle-mounted controller program module.
Referring to fig. 1, further as a preferred embodiment, the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm in the algorithm control subroutine module is as follows:
Figure BDA0001674198480000051
wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of the parabola, b is the first order term coefficient of the parabola, and c is the constant term.
In the above formula, the positive and negative of a represent the opening direction of the parabola, the positive represents upward, the negative represents downward, the size of a reflects the opening size of the parabola, the larger the absolute value of a is, the smaller the opening is, the steeper the parabola is, the smaller the absolute value of a is, the larger the opening is, and the gentler the parabola is.
The larger the value of b, the steeper the parabola and, conversely, the flatter. The adjustment amplitude of b is small relative to the value of a.
Preferably, the magnetic navigation sensor of the present invention outputs a position offset value of-60 to +60, for example, the magnetic navigation sensor outputs 0, which indicates that the magnetic navigation is in the middle of the magnetic stripe at this time; the output of the magnetic navigation sensor is-30, which indicates that the magnetic navigation is at the position of-30 on the left side of the magnetic strip at the moment, and the value is smaller on the left; the magnetic navigation sensor output 30 indicates the position of the magnetic navigation on the right 30 of the magnetic stripe at that time, the value being larger the more the right.
And the steering control of the steering wheel is controlled by transmitting a steering value through a CANBUS of the steering wheel driver. The steering value takes 0 as a boundary, when the steering value is a positive value, the steering wheel turns left, and the absolute value of the steering value increases the left turning speed; when the steering value is a negative value, the steering wheel turns to the right, and the absolute value of the steering value is larger than the speed of turning to the right. The further away the magnetic navigation is from the center, the greater the speed of the right or left turn.
The magnetic navigation tracking algorithm of the embodiment is suitable for the case of combining the magnetic navigation and the steering wheel driver, and has the following advantages:
1. only three parameters of a, b and c are needed to be adjusted, and the debugging period is fast;
2. popular and easy to understand and easy to deform;
3. compared with the PID algorithm, the matlab can be used for displaying a graphical interface, so that the method is visual and has more stable parameters;
4. the large turning at various angles is convenient to debug.
Further as a preferred embodiment, the sound and light control includes a flashing light control and a preset music playing control.
Referring to fig. 2, the AGV control method of the present invention includes the following steps:
the server scheduling program module performs AGVS scheduling on the AGV to generate an AGVS instruction, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
the method comprises the following steps that an on-board controller program module carries out operation control on an AGV according to an AGVS scheduling instruction of a server scheduling program module to generate an operation control instruction, wherein the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation track-finding algorithm;
and the action execution program module controls the AGV to execute corresponding actions according to the operation control instruction, and the actions executed by the AGV comprise sensor signal acquisition, steering wheel driver control and acousto-optic control.
Further as a preferred embodiment, the step of the on-board controller program module controlling the operation of the AGV according to the AGVS scheduling instruction of the server scheduling program module specifically includes:
the vehicle-mounted controller program module receives an AGVS scheduling instruction;
the vehicle-mounted controller program module calls a control algorithm of an algorithm control subprogram module according to the AGVS scheduling instruction to perform operation control on the AGV, and generates an operation control instruction, wherein the control algorithm of the algorithm control subprogram module comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
and the vehicle-mounted controller program module sends the operation control instruction to the action execution program module and acquires a sensor signal and a steering wheel action signal returned by the action execution program module.
Further as a preferred embodiment, the step of controlling the AGV to execute the corresponding action according to the operation control command by the action execution program module specifically includes:
the action execution program module receives an operation control instruction;
the action execution program module acquires sensor signals according to the operation control instruction;
the action execution program module controls the steering wheel driver according to the operation control instruction;
the action execution program module performs sound and light control according to the operation control instruction;
the action execution program module returns the action signal of the steering wheel and the acquired sensor signal to the program module of the vehicle-mounted controller.
Further, as a preferred embodiment, the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm is as follows:
Figure BDA0001674198480000071
wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of the parabola, b is the first order term coefficient of the parabola, and c is the constant term.
Further as a preferred embodiment, the sound and light control includes a flashing light control and a preset music playing control.
In conclusion, the AGVS scheduling of the AGV by the server scheduling program module comprises AGV multi-vehicle cooperative scheduling, so that multiple AGV vehicles can be simultaneously and coordinately scheduled, and the scheduling efficiency is high; the on-vehicle controller program module adopts the magnetism navigation seeking algorithm based on the parabola to obtain the position offset and the steering wheel direction speed of magnetism navigation when carrying out operation control to the AGV dolly, has adopted the magnetism navigation seeking algorithm based on the parabola to replace the PID algorithm, and the parameter that needs to set or debug is less relatively, easily realizes, and the parameter is more stable, can also show with graphical interface's form in matlab, and is more directly perceived, and is convenient for debug the big turn of different angles. The scheme of the invention has a wide market application prospect in the field of logistics transportation equipment control.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

  1. AGV dolly control system, its characterized in that: the method comprises the following steps:
    the server scheduling program module is used for carrying out AGVS scheduling on the AGV, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
    the system comprises a vehicle-mounted controller program module, a server scheduling program module and a control system, wherein the vehicle-mounted controller program module is used for controlling the operation of the AGV according to an AGVS scheduling instruction of the server scheduling program module, and the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation tracking algorithm;
    the action execution program module is used for controlling the AGV to execute corresponding actions according to the operation control instruction of the vehicle-mounted controller program module;
    the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm is as follows:
    Figure FDA0003117911670000011
    wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of a parabola, b is the first order term coefficient of the parabola, and c is a constant term;
    wherein the steering wheel driver is used for driving the steering wheel, and the control of the steering wheel is controlled by a steering value sent by CANBUS of the steering wheel driver.
  2. 2. The AGV cart control system of claim 1, further comprising: the on-board controller program module includes:
    the local area network subprogram module is used for receiving the AGVS scheduling instruction of the server scheduling program module and returning the result of the AGV trolley action execution to the server scheduling program module;
    the AGV control system comprises an algorithm control subprogram module, a control module and a control module, wherein the algorithm control subprogram module is used for providing a control algorithm of the AGV, and the control algorithm of the AGV comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
    the communication subprogram module is used for communicating with the action execution program module, sending an operation control instruction to the action execution program module and acquiring a sensor signal and a steering wheel action signal returned by the action execution program module;
    and the IO control subprogram module is used for sending an operation control instruction to the action execution program module through the IO port so as to perform acousto-optic control.
  3. 3. The AGV cart control system of claim 1, further comprising: the action execution program module includes:
    the sensor signal acquisition subprogram module is used for acquiring sensor signals according to the operation control instruction of the vehicle-mounted controller program module;
    the steering wheel driver control subprogram module is used for controlling the steering wheel driver according to the operation control instruction of the vehicle-mounted controller program module;
    and the sound and light control subprogram module is used for carrying out sound and light control according to the operation control instruction of the vehicle-mounted controller program module.
  4. 4. The AGV control system of claim 3, wherein: the sound and light control comprises flashing light control and preset music playing control.
  5. The AGV trolley control method is characterized by comprising the following steps: the method comprises the following steps:
    the server scheduling program module performs AGVS scheduling on the AGV to generate an AGVS instruction, wherein the AGVS scheduling comprises AGV multi-vehicle cooperative scheduling;
    the method comprises the following steps that an on-board controller program module carries out operation control on an AGV according to an AGVS scheduling instruction of a server scheduling program module to generate an operation control instruction, wherein the operation control comprises the step of obtaining the position offset and the steering wheel direction speed of magnetic navigation by adopting a parabola-based magnetic navigation track-finding algorithm;
    the action execution program module controls the AGV trolley to execute corresponding actions according to the operation control instruction;
    the magnetic navigation tracking formula adopted by the magnetic navigation tracking algorithm is as follows:
    Figure FDA0003117911670000021
    wherein y is the direction speed of the steering wheel driver, x is the position offset of magnetic navigation, a is the quadratic term coefficient of a parabola, b is the first order term coefficient of the parabola, and c is a constant term;
    wherein the steering wheel driver is used for driving the steering wheel, and the control of the steering wheel is controlled by a steering value sent by CANBUS of the steering wheel driver.
  6. 6. The AGV control method of claim 5, wherein: the step that the vehicle-mounted controller program module controls the AGV to run according to the AGVS scheduling instruction of the server scheduling program module specifically comprises the following steps:
    the vehicle-mounted controller program module receives an AGVS scheduling instruction;
    the vehicle-mounted controller program module calls a control algorithm of an algorithm control subprogram module according to the AGVS scheduling instruction to perform operation control on the AGV, and generates an operation control instruction, wherein the control algorithm of the algorithm control subprogram module comprises a laser navigation algorithm and a magnetic navigation tracking algorithm;
    and the vehicle-mounted controller program module sends the operation control instruction to the action execution program module and acquires a sensor signal and a steering wheel action signal returned by the action execution program module.
  7. 7. The AGV control method of claim 5, wherein: the step that the action execution program module controls the AGV trolley to execute corresponding actions according to the operation control instruction specifically comprises the following steps:
    the action execution program module receives an operation control instruction;
    the action execution program module acquires sensor signals according to the operation control instruction;
    the action execution program module controls the steering wheel driver according to the operation control instruction;
    the action execution program module performs sound and light control according to the operation control instruction;
    the action execution program module returns the action signal of the steering wheel and the acquired sensor signal to the program module of the vehicle-mounted controller.
  8. 8. The AGV control method of claim 7, wherein: the sound and light control comprises flashing light control and preset music playing control.
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